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Some Results for Conjugate Equations SOME RESULTS FOR CONJUGATE EQUATIONS KAZUKI OKAMURA Abstract. In this paper we consider a class of conjugate equations, which generalizes de Rham’s functional equations. We give sufficient conditions for existence and uniqueness of solutions under two differ- ent series of assumptions. We consider regularity of solutions. In our framework, two iterated function systems are associated with a series of conjugate equations. We state local regularity by using the invariant measures of the two iterated function systems with a common probabil- ity vector. We give several examples, especially an example such that infinitely many solutions exists, and a new class of fractal functions on the two-dimensional standard Sierpi´nski gasket which are not harmonic functions or fractal interpolation functions. We also consider a certain kind of stability. Contents 1. Introduction 1 2. Existence and uniqueness 3 3. Regularity 6 4. Examples for existence and uniqueness 14 5. Examples for regularity 19 6. Stability 23 7. Open problems 26 References 27 1. Introduction In this paper we consider the following functional equation. Let X and Y be non-empty sets. Let I be a finite set. Assume that for i I, a subset ∈ Xi X, and two maps fi : Xi X and gi : X Y Y are given. Now arXiv:1806.06197v2 [math.CA] 17 Dec 2018 consider⊂ the solution ϕ : X Y→satisfying that × → → ϕ(f (x)) = g (x, ϕ(x)), x X , i I. (1.1) i i ∈ i ∈ The functional equation above is a generalization of de Rham’s functional equation [dR57] and in the framework of iterative functional equations (cf. Kuczma-Choczewski-Ger [KCG90]). [KCG90] focuses on single equations, here we study not single but plural equations in a system. Here we consider solutions satisfying a series of plural equations simultaneously. This means that the set I above contains at least two points. [dR57] deals with the 2010 Mathematics Subject Classification. 39B72, 39B12, 28A80, 26A30. Key words and phrases. Conjugate equations, de Rham’s functional equations, iterated function systems. 1 2 KAZUKI OKAMURA case that X = [0, 1] and I = 0, 1 and gi : Y Y . De Rham’s functional equation driven by affine functions{ } and related→ functions such as Takagi functions have been considered in many papers. A few of related results are Hata [Ha85], Zdun [Z01], Girgensohn-Kairies-Zhang [GKZ06], Serpa- Buescu [SB15a, SB15b, SB15c], Shi-Yilei [ST16], Barany-Kiss-Kolossvary [BKK18], Allaart [A], etc. Here we do not give a detailed review of this topic. Recently, Serpa-Buescu [SB17] considered (1.1) and gave necessary conditions for existence of the solution of (1.1). In the case that X and Y are metric spaces, they also gave sufficient conditions for existence and uniqueness. They also gave explicit formulae for the solution. This paper has three purposes. The first one is to consider sufficient conditions for existence and uniqueness of the solution of (1.1). The second one is investigating regularity properties for the solution. The final one is considering a kind of stability of the solution. This paper is organized as follows. In Section 2, we consider two different series of sufficient conditions for existence of the solution of (1.1), which are stated in Theorems 2.5 and 2.9. These results are similar to [SB17, Theorem 1], however, in Theorem 2.5, we remove several assumptions of [SB17, Theorem 1], and furthermore, in Theorem 2.9 we deal with the case that fi is not injective. In Section 3, we consider local regularity of solutions via invariant mea- sures of iterated function systems. We focus on the case that for each i I, ∈ Xi = X and the value of gi(x,y) does not depend on x and furthermore (X, fi i∈I ) and (Y, gi i∈I ) are iterated function systems satisfying the open{ set} conditions. Informally{ } speaking, we state in Theorem 3.9 that un- der certain conditions the solution of (1.1) is fractal, or in another phrase, singular. The solution of (1.1) measures how “far” two iterated function systems (X, fi i∈I ) and (Y, gi i∈I ) are. Although we do not need to in- troduce measures{ } for the definition{ } of (1.1), we state Theorem 3.9 by using integrals of certain functions with respect to the invariant measures of iter- ated function systems (X, fi i∈I ) and (Y, gi i∈I ) equipped with a common probability weight. We emphasize{ } that Theorem{ } 3.9 is applicable to the case that fi and gi are non-affine functions. Theorem 3.9 generalizes a modified statement of [O16, Theorem 1] and is also related to [Ha85, Theorems 7.3 and 7.5] and [Z01, Theorems 6 and 7]. [Ha85, Z01, O16] deal with the case that X = [0, 1], however, our result is also applicable to the case that X is not [0, 1]. We deal with the case that X is the two-dimensional standard Sierpi´nski gasket. In Sections 4 and 5, we give several examples. In Proposition 4.2, we consider the case that fi is not injective by applying Theorem 2.9. In Ex- ample 4.11, we give an example for the case that infinitely many solutions exist. Example 4.7 deals with the case that the iterated function systems (X, fi i∈I ) and (Y, gi i∈I ) have overlaps. In Example 5.8, we give an ex- ample{ for} the case that{ }X is the two-dimensional standard Sierpi´nski gasket and Y = [0, 1]. The solution is different from fractal interpolation functions on the Sierpi´nski gasket considered by Celik-Kocak-Ozdemir [CKO08], Ruan [R10] and Ri-Ruan [RR11]. The solution is not a harmonic function on the 3 two-dimensional Sierpi´nski gasket, and we would be able to call the solution a “fractal function on a fractal”. In Section 6, we consider a certain kind of stability of the solution. A little more specifically, we justify the following intuition: If two systems of (1.1) are “close” to each other, then, the two solutions of these systems are “close” to each other. Since we do not put any algebraic structures on X or Y , we cannot consider the Hyers-Ulam stability. We consider an alternative candidate of stability, by using the notion of Gromov-Hausdorff convergence on the class of metric spaces. Finally in Section 7, we state four open problems concerning conjugate equations. 2. Existence and uniqueness Let I be a finite set containing at least two distinct points. Let I = 0, 1,...,N 1 . Let X be non-empty sets and (Y, dY ) be a complete metric{ space.− Assume} that for each i I a map g : X Y Y is given. ∈ i i × → Assumption 2.1. For each i I, let Xi X and fi : Xi X be a map such that ∈ ⊂ → X = fi(Xi). i[∈I Henceforth, if we do not refer to Xi, then, we always assume that Xi = X. Let A be the set of contact points, that is, A := x X f (x )= f (x ) = f −1(f (X )), i { i ∈ i | i i j j } i j j j∈[I\{i} xj[∈Xj j∈[I\{i} −1 A := Ai = fi (fj(Xj)). i[∈I i[6=j Let A := A f f (A). ∪ i1 ◦···◦ in n[≥1 i1,...,i[n∈I Assumption 2.2.eAssume that there exists a unique bounded map ϕ0 : A Y such that (i)→ gi(xi, ϕ0(xi)) = gj(xj, ϕ0(xj)) holds for every xi Ai and xj Aj satisfying that fi(xi)= fj(xj). (ii) If f f ∈(x) A, then,∈ i1 ◦···◦ in ∈ ϕ (f f (x)) = g (f f (x), ) g (x, ) ϕ (x). 0 i1 ◦···◦ in i1 i2 ◦···◦ in · ◦···◦ in · ◦ 0 We say that a function ψ on R is increasing (resp. decreasing) if ψ(t1) ψ(t ) (resp. ψ(t ) ψ(t )) whenever t t , and, is strictly increasing≤ 2 1 ≥ 2 1 ≤ 2 (resp. strictly decreasing) if ψ(t1) < ψ(t2) (resp. ψ(t1) > ψ(t2)) whenever t1 <t2. Let (M, d) be a metric space. We say that T : M M is ψ-contractive in the sense of Matkowski [Ma75] if ψ : [0, + ) [0,→+ ) is an increasing function such that for any t> 0, ∞ → ∞ lim ψn(t) = 0. (2.1) n→∞ and d(Tx,Ty) ψ (d(x,y)) , for any x,y M. ≤ ∈ 4 KAZUKI OKAMURA We say that T is ψ-contractive in the sense of Browder (See Jachymski [J97] for details) if we can take ψ in the above as a strictly increasing function. Hereafter, if we say that a map is a weak contraction in the sense of Matkowski or Browder, then, we mean that for some ψ the map is ψ- contractive in the sense of Matkowski or Browder, respectively. We remark that if (2.1) holds for an increasing function ψ, then, ψ(t) <t for any t> 0. Assumption 2.3. For each i I and x X , g (x, ) is φ -contractive in ∈ ∈ i i · i the sense of Matkowski, where φi : [0, + ) [0, + ) is a map satisfying (2.1). ∞ → ∞ If g (x, ) does not depend on the choice of x, specifically, g (x ,y) = i · i 1 gi(x2,y) holds for any x1,x2 Xi and y Y , then, we simply write gi( )= g (x, ). ∈ ∈ · i · 2.1. Result for the case that each gi depends on x. First we deal with the case that each gi depends on x. Assumption 2.4. Assume that each fi is injective and f −1(A) A. (2.2) i ⊂ i[∈I e e (2.2) is satisfied if x A whenever fi(x) A for some i I, or A = , for example.
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